Output.hpp

Go to the documentation of this file.

#ifndef JOINT_DISPATCHER_OUTPUT_HPP
#define JOINT_DISPATCHER_OUTPUT_HPP

#include <vector>
#include <string>
#include <base/Time.hpp>
#include <base/samples/Joints.hpp>

namespace joint_dispatcher
{
    class Output
    {
        std::string mName;

        base::samples::Joints mState;

        bool mIsNew;
        bool mFullyInitialized;
        size_t mFullUpdateCounter;
        std::vector<bool> mUpdatedJoints;
        std::vector<base::Time> mUpdateTime;

    public:
        Output(std::string const& name = "");

        std::string getName() const;

        void updateJoint(size_t jointIdx, base::Time const& time, base::JointState const& sample);

        base::samples::Joints read();

        std::vector<std::string> getJointNames() const;

        std::vector<size_t> mapJointNamesToIndex(std::vector<std::string> const& names) const;

        size_t size() const;

        void resize(std::vector<std::string> const& jointNames);

        void resize(size_t size);

        void reset();

        bool isNew() const;

        bool isFullyUpdated() const;
    };
}

#endif